Kalman filter based applications for helicopters

Okatan, Merve
The study in this thesis comprises Kalman Filter based applications for helicopters. In the first part of this thesis, a Kalman filter for a helicopter is designed to integrate micro-electromechanical sensors with the Global Navigation Satellite Systems to achieve desired accuracy levels. It is implemented to a non-linear helicopter model and its performance is shown through simulations. In the second part of this thesis, Kalman Filter approach is adopted to neural network based adaptive controllers as a modification term in the update law. In order to control the attitude of the helicopter, a linear model inversion based controller with a neural network adaptive element is implemented, and its modification term is designed using a Kalman Filter approach. The approach is compared with other existing modification terms in the literature through simulations.


Kutlu, Aykut; Tekinalp, Ozan (2009-02-12)
This study presents the design of a Kalman filter based attitude determination algorithms for a hypothetical LEO satellite with a multimode structure that employs different sensor combinations and as well as online switching between these combinations depending on the sensor availability. The performance and effectiveness of these different attitude determination modes and the multimode structure are investigated through simulations. Especially the accuracy of the state estimation and the behavior of the sy...
Kalman filtering based approach for light flicker evaluation of power systems
Kose, N.; Salor, O.; Leblebicioğlu, Mehmet Kemal (Institution of Engineering and Technology (IET), 2011-01-01)
In this study, a Kalman filtering based approach is proposed to measure the light flicker of the electricity transmission systems. Analytical expressions of the instantaneous light flicker sensation are used to obtain a flicker estimation method based on the International Electrotechnical Commission (IEC) flickermeter. In the proposed method, the frequency domain components of the voltage waveform are obtained by Kalman filtering and these components are used to obtain the light flicker. The method is teste...
Exact kalman filtering of respiratory motion
Çetinkaya, Mehmet; Erkmen, Aydan Müşerref (2018-10-01)
In this paper we propose a novel Exact Kalman Filter for state estimation of quasi-periodic signals such as respiratory motion. Nonlinear functions of interest are approximations as truncated Fourier series. Instead of relying on approximations provided by Extended Kalman Filter or Unscented Kalman Filter, our filter performs exact calculation of the mean and covariances of interest. We then compare, through simulations, the performance of our filter to the two. Our results show that the theoretically deriv...
A tool for designing robust autopilots for ramjet missiles
Kahvecioğlu, Alper; Alemdaroğlu, Hüseyin Nafiz; Department of Aerospace Engineering (2006)
The study presented in this thesis comprises the development of the longitudinal autopilot algorithm for a ramjet powered air-to-surface missile. Ramjet Missiles have short time-of-flight, however they suffer from limited angle of attack margins due to poor operational-region characteristics of the ramjet engine. Because of such limitations and presence of uncertainties involved, Robust Control Techniques are used for the controller design. Robust Control Techniques not only provide an easy limitation/uncer...
Kalman filter based modification on helicopter adaptive control
Yavrucuk, İlkay (null; 2015-01-05)
In this paper, a Kalman Filter based e-modification term is used in the update law of an online learning adaptive neural network controller for a helicopter application. The controller is applied to a high fidelity helicopter simulation model. The applications include both an example on a single-input single-output controller structure using a linear in the parameter neural network, but also a multi-input multi-output neural network structure to compensate uncertainties in the attitude control of a helicopt...
Citation Formats
M. Okatan, “Kalman filter based applications for helicopters,” M.S. - Master of Science, Middle East Technical University, 2014.